cmake_minimum_required(VERSION 3.8)
project(fruit_nav)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

# Generate action interfaces
rosidl_generate_interfaces(${PROJECT_NAME}
  "action/NavigateToPose.action"
  DEPENDENCIES geometry_msgs
)

# Add executable
add_executable(fruit_nav_node src/fruit_nav.cpp)
ament_target_dependencies(fruit_nav_node 
  rclcpp 
  rclcpp_action
  geometry_msgs
  tf2
  tf2_ros
  tf2_geometry_msgs
)

# Link generated interfaces
rosidl_get_typesupport_target(cpp_typesupport_target
  ${PROJECT_NAME} rosidl_typesupport_cpp)
target_link_libraries(fruit_nav_node "${cpp_typesupport_target}")

# Install executable
install(TARGETS
  fruit_nav_node
  DESTINATION lib/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

